mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-22 01:11:42 +00:00
07c86e0cd5
Add user setting for scaling on top of DPI scaling. Add user setting for visual style (light/dark/normal). Save window position, size, maximized state, scale, and style to ini file.
130 lines
4.5 KiB
C++
130 lines
4.5 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "EncoderGui.h"
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#include <cstdio>
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#include <hal/Ports.h>
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#include <imgui.h>
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#include <imgui_internal.h>
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#include <mockdata/EncoderData.h>
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#include <mockdata/SimDeviceData.h>
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#include <wpi/DenseMap.h>
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#include <wpi/StringRef.h>
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#include "HALSimGui.h"
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using namespace halsimgui;
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static wpi::DenseMap<int, bool> gEncodersOpen; // indexed by channel A
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// read/write open state to ini file
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static void* EncodersReadOpen(ImGuiContext* ctx, ImGuiSettingsHandler* handler,
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const char* name) {
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int num;
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if (wpi::StringRef{name}.getAsInteger(10, num)) return nullptr;
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return &gEncodersOpen[num];
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}
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static void EncodersReadLine(ImGuiContext* ctx, ImGuiSettingsHandler* handler,
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void* entry, const char* lineStr) {
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bool* element = static_cast<bool*>(entry);
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wpi::StringRef line{lineStr};
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auto [name, value] = line.split('=');
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name = name.trim();
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value = value.trim();
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if (name == "open") {
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int num;
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if (value.getAsInteger(10, num)) return;
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*element = num;
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}
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}
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static void EncodersWriteAll(ImGuiContext* ctx, ImGuiSettingsHandler* handler,
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ImGuiTextBuffer* out_buf) {
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for (auto it : gEncodersOpen)
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out_buf->appendf("[Encoder][%d]\nopen=%d\n\n", it.first, it.second ? 1 : 0);
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}
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static void DisplayEncoders() {
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bool hasAny = false;
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static int numEncoder = HAL_GetNumEncoders();
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ImGui::PushItemWidth(ImGui::GetFontSize() * 8);
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for (int i = 0; i < numEncoder; ++i) {
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if (HALSIM_GetEncoderInitialized(i)) {
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hasAny = true;
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char name[32];
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int chA = HALSIM_GetEncoderDigitalChannelA(i);
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int chB = HALSIM_GetEncoderDigitalChannelB(i);
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std::snprintf(name, sizeof(name), "Encoder[%d,%d]", chA, chB);
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if (auto simDevice = HALSIM_GetEncoderSimDevice(i)) {
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ImGui::PushStyleColor(ImGuiCol_Text, IM_COL32(96, 96, 96, 255));
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ImGui::Text("%s", HALSIM_GetSimDeviceName(simDevice));
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ImGui::PopStyleColor();
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} else if (ImGui::CollapsingHeader(
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name,
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gEncodersOpen[chA] ? ImGuiTreeNodeFlags_DefaultOpen : 0)) {
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gEncodersOpen[chA] = true;
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ImGui::PushID(i);
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// distance per pulse
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double distancePerPulse = HALSIM_GetEncoderDistancePerPulse(i);
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ImGui::LabelText("Dist/Count", "%.6f", distancePerPulse);
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// count
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int count = HALSIM_GetEncoderCount(i);
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if (ImGui::InputInt("Count", &count)) HALSIM_SetEncoderCount(i, count);
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ImGui::SameLine();
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if (ImGui::Button("Reset")) HALSIM_SetEncoderCount(i, 0);
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// max period
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double maxPeriod = HALSIM_GetEncoderMaxPeriod(i);
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ImGui::LabelText("Max Period", "%.6f", maxPeriod);
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// period
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double period = HALSIM_GetEncoderPeriod(i);
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if (ImGui::InputDouble("Period", &period, 0, 0, "%.6g"))
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HALSIM_SetEncoderPeriod(i, period);
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// reverse direction
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ImGui::LabelText(
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"Reverse Direction", "%s",
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HALSIM_GetEncoderReverseDirection(i) ? "true" : "false");
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// direction
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static const char* options[] = {"reverse", "forward"};
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int direction = HALSIM_GetEncoderDirection(i) ? 1 : 0;
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if (ImGui::Combo("Direction", &direction, options, 2))
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HALSIM_SetEncoderDirection(i, direction);
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ImGui::PopID();
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} else {
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gEncodersOpen[chA] = false;
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}
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}
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}
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ImGui::PopItemWidth();
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if (!hasAny) ImGui::Text("No encoders");
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}
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void EncoderGui::Initialize() {
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// hook ini handler to save settings
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ImGuiSettingsHandler iniHandler;
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iniHandler.TypeName = "Encoder";
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iniHandler.TypeHash = ImHashStr(iniHandler.TypeName);
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iniHandler.ReadOpenFn = EncodersReadOpen;
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iniHandler.ReadLineFn = EncodersReadLine;
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iniHandler.WriteAllFn = EncodersWriteAll;
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ImGui::GetCurrentContext()->SettingsHandlers.push_back(iniHandler);
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HALSimGui::AddWindow("Encoders", DisplayEncoders,
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ImGuiWindowFlags_AlwaysAutoResize);
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HALSimGui::SetDefaultWindowPos("Encoders", 640, 215);
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}
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